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- よしたか いちぬの
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4 1 1 (Virtual Reality: VR) [1][2] [3] VR VR 3 VR 1 1 1
5 1 2 [4] [5] 2 6 (Inverse Kinematic: IK) [6] 2 Pamplona 1 AR [7] 1 ( ) (CV) [8] ARToolKit 6 [9]
6 1 3 PC VR/MR/AR 0%
7
8 5 2 [8] 6 ARToolKit AR 6 ( 2.1) IP MP 1 CM 2 4 DIP PIP 1 MP 2 4 MP 2 MP 2.1 ( ) DIP PIP MP IP CM 2.1:
9 : [10] 2.2 IP MP CM( ) CM( ) DIP PIP MP( ) MP( ) :
10 i(i = 1 4) i = 1 i = 4 0 DIP PIP [11]( 2.2) PIP MP ( ) S [12]( 2.3) IP MP ( 2.4) MP CM ( ) S ( 2.5) 2.2: DIP PIP 2.3: PIP MP ( )
11 : IP MP 2.5: MP CM ( ) DIP θ i1 (= f θi1 (θ i2 )) IP θ 01 (= f θ01 (θ 02 )) 2.2 θ i2 i PIP θ 02 MP i MP 2.3 MP ( ) θ i3 i MP ( ) θ i4 i MP ( ) f θi1 (θ i2 ) = 2 3 θ i2 (2.1) f θ01 (θ 02 ) = 4 3 θ 02 (2.2) { ( (θ i3 60.0)) θ i4 ( (θ i3 60.0)) (θ i3 60 ) 25 θ i4 25 (θ i3 < 60 ) (2.3) 2.2 (Forward Kinematics: FK) 2.1 Denavit-Hartenberg [13] i DH
12 DH a α d θ a α d θ θ i θ i3 3 L i3 0 0 θ i2 4 L i2 0 0 θ i1 5 L i : i DH a α d θ θ θ L θ 02 4 L θ 01 5 L : DH θ i1 L i1 θ 01 L 01 θ i2 L i2 θ θ L i4 i3 i3 θ 02 L 02 θ L 03 θ 2.6: i DH 2.7: DH 2.3 i F K i (θ i4, θ i3, θ i2, θ i1 ) F K 0 (θ 04, θ 03, θ 02, θ 01 ) 2.5 F K i (θ i4, θ i3, θ i2, θ i1 ) = L i1 sin θ i4 cos(θ i3 + θ i2 + θ i1 ) +L i2 sin θ i4 cos(θ i3 + θ i2 ) + L i3 sin θ i4 cos θ i3 L i1 cos θ i4 cos(θ i3 + θ i2 + θ i1 ) +L i2 cos θ i4 cos(θ i3 + θ i2 ) + L i3 cos θ i4 cos θ i3 L i1 sin(θ i3 + θ i2 + θ i1 ) + L i2 sin(θ i3 + θ i2 ) + L i3 sin θ i3 (2.4)
13 2 10 F K 0 (θ 04, θ 03, θ 02, θ 01 ) = L 01 cos θ 04 sin θ 03 cos(θ 02 + θ 01 ) L 01 sin θ 04 sin(θ 02 + θ 01 ) +L 02 cos θ 04 sin θ 03 cos θ 02 L 02 sin θ 04 sin θ 02 +L 03 cos θ 04 sin θ 03 L 01 cos θ 03 cos(θ 02 + θ 01 ) + L 02 cos θ 03 cos θ 02 + L 03 cos θ 03 L 01 sin θ 04 sin θ 03 cos(θ 02 + θ 01 ) + L 01 cos θ 04 sin(θ 02 + θ 01 ) +L 02 sin θ 04 sin θ 03 cos θ 02 + L 02 cos θ 04 sin θ 02 +L 03 sin θ 04 sin θ 03 (2.5) DIP θ i1 IP θ i F K i (θ i4, θ i3, θ i2 ) 2.7 F K 0 (θ 04, θ 03, θ 02 ) F K i (θ i4, θ i3, θ i2 ) = F K 0 (θ 04, θ 03, θ 02 ) = L i1 sin θ i4 cos(θ i θ i2) + L i2 sin θ i4 cos(θ i3 + θ i2 ) +L i3 sin θ i4 cos θ i3 L i1 cos θ i4 cos(θ i θ i2) + L i2 cos θ i4 cos(θ i3 + θ i2 ) +L i3 cos θ i4 cos θ i3 L i1 sin(θ i θ i2) + L i2 sin(θ i3 + θ i2 ) + L i3 sin θ i3 L 01 cos θ 04 sin θ 03 cos 7 3 θ 02 L 01 sin θ 04 sin 7 3 θ 02 +L 02 cos θ 04 sin θ 03 cos θ 02 L 02 sin θ 04 sin θ 02 +L 03 cos θ 04 sin θ 03 L 01 cos θ 03 cos 7 3 θ 02 + L 02 cos θ 03 cos θ 02 + L 03 cos θ 03 L 01 sin θ 04 sin θ 03 cos 7 3 θ 02 + L 01 cos θ 04 sin 7 3 θ 02 +L 02 sin θ 04 sin θ 03 cos θ 02 + L 02 cos θ 04 sin θ 02 +L 03 sin θ 04 sin θ 03 (2.6) (2.7)
14 AR : CSV LUT CSV LUT (x i, y i ) AR (x i, y i ) AR- ToolKit ( ) (x i, y i ) L t
15 2 12 X F Z Y L t C Y X ( x i, yi ) 2.9: L t = C + te (2.8) t C e 2.9 F 6 F L t F i f li (θ i3 ) PIP θ i2 (= f θi2 (θ i3 )) MP ( )
16 2 13 θ i4 MP ( ) f θi2 (θ i3 ) = α i θ i3 3 + β i θ i3 2 + γ i θ i3 (2.9) α i, β i, γ i F K i (θ i4, θ i3, θ i2 ) f θi2 (θ i3 ) i f li (θ i3 ) 2.10 L i1 cos θ 04 cos 5 3 (α iθ 3 i3 + β i θ 2 i3 + γ i θ i3 ) + θ i3 +L i2 cos θ i4 cos(α i θ 3 i3 + β i θ 2 i3 + γ i θ i3 + θ i3 ) + L i3 cos θ i4 cos θ i3 f li (θ i3 ) = L i1 sin θ 04 cos 5 3 (α iθ 3 i3 + β i θ 2 i3 + γ i θ i3 ) + θ i3 +L i2 sin θ i4 cos(α i θ 3 i3 + β i θ 2 i3 + γ i θ i3 + θ i3 ) + L i3 sin θ i4 cos θ (2.10) i3 L i1 sin 5 3 (α iθ 3 i3 + β i θ 2 i3 + γ i θ i3 ) + θ i3 +L i2 sin(α i θ 3 i3 + β i θ 2 i3 + γ i θ i3 + θ i3 ) + L i3 sin θ i3 f l0 (θ 03 ) MP θ 02 (= f θ02 (θ 03 )) CM ( ) θ 04 f θ02 (θ 03 ) = α 0 θ β 0 θ γ 0 θ 03 (2.11) α 0, β 0, γ 0 F K 0 (θ 04, θ 03, θ 02 ) f θ02 (θ 03 ) i f l0 (θ 03 ) 2.12 f l0 (θ 03 ) = L 01 cos θ 04 sin θ 03 cos 7 3 (α 0θ β 0 θ γ 0 θ 03 ) L 01 sin θ 04 sin 7 3 (α 0θ β 0 θ γ 0 θ 03 ) +L 02 cos θ 04 sin θ 03 cos(α 0 θ β 0 θ γ 0 θ 03 ) L 02 sin θ 04 sin(α 0 θ β 0 θ γ 0 θ 03 ) + L 03 cos θ 04 sin θ 03 L 01 cos θ 03 cos 7 3 (α 0θ β 0 θ γ 0 θ 03 ) +L 02 cos θ 03 cos(α 0 θ β 0 θ γ 0 θ 03 ) + L 03 cos θ 03 L 01 sin θ 04 sin θ 03 cos 7 3 (α 0θ β 0 θ γ 0 θ 03 ) +L 01 cos θ 04 sin 7 3 (α 0θ β 0 θ γ 0 θ 03 ) +L 02 sin θ 04 sin θ 03 cos(α 0 θ β 0 θ γ 0 θ 03 ) +L 02 cos θ 04 sin(α 0 θ β 0 θ γ 0 θ 03 ) + L 03 sin θ 04 sin θ 03 (2.12)
17 2 14 f li (θ i3 ) f l0 (θ 03 ) 2.8 L t L t f li (θ i3 ) f l0 (θ 03 ) L s 2.13 L s = P + sd (2.13) s P d 2.8 L t Q L s R QR QR = R Q QR = (P + sd) (C + te) = P C + sd te (2.14) QR QR e QR d QR e = 0 (2.15) QR d = 0 (2.16) t s t = { d 2 (CP e) (e d)(cp d)} e 2 d 2 (e d) 2 (2.17) s = {(e d)(cp e) e 2 (CP d)} e 2 d 2 (e d) 2 (2.18)
18 2 15 CP = P C t 2.8 L t Q s 2.13 L s R L s 0.0 s 1.0 s < 0.0 R 1.0 < s R L s R QR L t Q F Cyclic-Coordinate Descent(CCD) [14] CCD 1 CCD 2.10 ( ) e ( ) g 1. c e E c g G E G 3. c 2. ( ) c b a
19 2 16 (1) (2) (3) (4) c b g a (7) g c b a e G E g c b a c g a b g c b a e e e e G E (5) (6)(2)~(5)! "#$%&' g c b a E G c g a b e e 2.10: CCD
20 CCD damping( ) i damping DIP IP PIP θ i2 MP θ 02 DIP θ i1 IP θ 01 2 e G damping DIP θ i1 PIP θ i2 DIP θ i1 f θi1 (θ i2 ) PIP θ i2j MP ( ) θ i3j f c θ i2 (θ i3j ) f c θ i3 (θ i2j ) j 0 j n j = 0 j = n θ i2j, θ i3j t j f ct θ i2 (t j ) f ct θ i3 (t j ) t n
21 2 18 MP ( ) θ i4 θ i4 θ i4 t j fθ t i4 (t j ) fθ t i4 (t j ) fθ t i2 (t j ) fθ t i3 (t j ) 2.11: 2.12: F K i (θi4, θi3, θi2)
22 2 19 θ i3 j c ( θ θ i2 j i3 f ) ct θ i 3 f ( t j ) θ i3n t θ i 3 f ( t j ) θ i2 j 2.13: θ i2n θ i3 j θ i2 j c ( θ θ i3 j i2 f ) t θ i 2 f ct θ i 2 f ( t ( t j j ) ) θ i2n 2.14: θ i3n θ i4 j t θi4 f ( t j ) θ i4 n 2.15: θ i4n
23 i k(k i) k k kd, r kd, 2.6 L kd S kd 2.16 r kd L kd kd S kd 2.16: S kd i F K i (θi4, θi3, θi2) F i F i F i
24 :
25 ( ) ( 0% 100% 0% 400%)
26 % 100% f θi1 (θ i2 ) f θ01 (θ 02 ) f θi2 (θ i3 ) f θ02 (θ 03 ) i(i=1 4) i(i = 1 4) i ( ( (mm)) 2 ) : 2.3 CSV LUT
27 3 24 LUT : AR
28 3 25 ( (mm) (mm)) : 3.2: ( ) 3.3: ( ) open :
29 3 26 AR : :400% 3.6: :0% 3.7: :200% 3.8: :300% 3.9: :200% 3.10: :100%
30 : :150% 3.12: :100% 3.13: :50% 3.14:
31 :
32 3 29 5
33 CPU : Pentium(R) Dual-Core CPU E GHz PC C++ BUFFALO USB BSW20K pixel( 30fps) pixel pixel :
34 (msec) CG : 30fps 74% 10 12fps : 4: 7: 3 1: 2:
35 4 32 3: ( CG) : 4.3: 4.4: 4.5: 1 4.6: 2
36 : MP PIP 3.5 CG 1 MP ( ) MP ( ) 4
37 34 5 0% 400%
38 5 35 MP ( )
39 36
40 37 [1] VR Vol.12 No.1 pp [2] Vol.11 No.4 pp [3] 2012 [4] Vol.J81-D-2 No.1 pp [5] IS [6] (CD-ROM) [7] Vitor F. Pamplona Leandro A. F. Fernandes Joao Prauchner Luciana P. Nedel e Manuel M. Oliveira The Image-Based Data Glove Proceedings of X Symposium on Virtual Reality (SVR 2008) pp [8] Sanshiro Yamamoto Kenji Funahashi Yuji Iwahori A Study for Vision Based Data Glove Considering Hidden Fingertip with Self-Occlusion Proc. SNPD2012 pp
41 38 [9] Billinghurst Mark Vol.4 No.4 pp [10] [11] ELKOURA G and SINGH K Handrix Animating the Human Hand Symposium on Computer Animation - SCA, pp , 2003 [12] [13] S. Hayati K. Tso and G. Roston Robot Geometry Calibration Trans. of IEEE Robotics and Automation Vol.2 pp [14] Chris Welman. Inverse kinematics and geometric constraints for articulated figure manipulation M.Sc Thesis Simon Fraser University 1993.
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3 3D 1,a) 1 1 Kinect (X, Y) 3D 3D 1. 2010 Microsoft Kinect for Windows SDK( (Kinect) SDK ) 3D [1], [2] [3] [4] [5] [10] 30fps [10] 3 Kinect 3 Kinect Kinect for Windows SDK 3 Microsoft 3 Kinect for Windows
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基礎 : 開発用ツール 橋本 直 ( 独 ) 科学技術振興機構 敷居が低くなった AR 開発 2007 AR AR 1 CPU GPU AR CG AR PC AR 2 Web Web Web 5,000 USB Web 10 1280 960 0fps AR PC AR AR 2007 AR AR Web PC AR Flash AR FLARToolKit Web AR IT AR ツールキットが提供する基本的な機能と開発者に求められるスキル
1 3 1.1.......................... 3 1............................... 3 1.3....................... 5 1.4.......................... 6 1.5........................ 7 8.1......................... 8..............................
情報処理学会研究報告 IPSJ SIG Technical Report Vol.2015-CVIM-195 No /1/22 AR マーカ除去のための実時間背景画像変形 *1 1 1 Abstract 本稿では, 拡張現実感で用いられる AR マーカの違和感のない視覚的除去を実現するた
AR マーカ除去のための実時間背景画像変形 *1 1 1 Abstract 本稿では, 拡張現実感で用いられる AR マーカの違和感のない視覚的除去を実現するための, 背景画像の実時間変形手法を提案する. 従来,AR マーカの実時間除去は, マーカが平面上に存在するという仮定のもと, カメラ位置姿勢に基づく単一の射影変換行列を用いて, 背景画像を変形し, マーカ上に重畳することで実現していた. しかし,
4 4 θ X θ P θ 4. 0, 405 P 0 X 405 X P 4. () 60 () 45 () 40 (4) 765 (5) 40 B 60 0 P = 90, = ( ) = X
4 4. 4.. 5 5 0 A P P P X X X X +45 45 0 45 60 70 X 60 X 0 P P 4 4 θ X θ P θ 4. 0, 405 P 0 X 405 X P 4. () 60 () 45 () 40 (4) 765 (5) 40 B 60 0 P 0 0 + 60 = 90, 0 + 60 = 750 0 + 60 ( ) = 0 90 750 0 90 0
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